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Modeling and compensation for friction effects has been a topic of considerable mainstream interest in motion control research. This interest is spawned from the fact that modeling nonlinear friction effects is a theoretically challenging problem, and compensating for the effects of friction in a controller has practical ramifications. If the friction effects in the system can be accurately modeled, there is an improved potential to design controllers that can cancel the effects; whereas, excessive steady-state tracking errors, oscillations, and limit cycles can result from controllers that do not accurately compensate for friction. A tracking controller is developed in this paper for a general Euler-Lagrange system that contains a new continuously differentiable friction model with uncertain nonlinear parameterizable terms. To achieve the semi-global asymptotic tracking result, a recently developed integral feedback compensation strategy is used to identify the friction effects online, assuming exact model knowledge of the remaining dynamics. A Lyapunov-based stability analysis is provided to conclude the tracking and friction identification results. Experimental results illustrate the tracking and friction identification performance of the developed controller.